JP3115497U - Transfer robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a transfer robot capable of delivering high rigidity and high accuracy by reducing the number of arms to the limit by placing a single arm on a linear moving body, thereby reducing arm load, reducing weight and cost. It is to provide.
A support body 3 mounted on a horizontal movement portion 2A of the linear drive body 2, a drive motor DM attached to the support body, a reduction unit GU connected to a rotation shaft of the drive motor, An arm 5 connected to the speed reduction unit GU and pivotally supported by a support, a fixture 6 pivotally attached to a tip of the arm to attach a gripper for a conveyed product, and a positive wheel H2 of the fixture; This is a transfer robot 100 provided with a positive movement belt B for striking and connecting a positive movement wheel H1 attached to the arm base 5A so as not to rotate.
[Selection] Figure 1

Description

  The present invention relates to a transport robot that transports various transported objects, and in particular, by making the arm a single arm (single arm) on a linear moving body, manufacturing cost, operability and maintainability are improved. The present invention relates to a transport robot.

  2. Description of the Related Art Conventionally, various types of robots have been provided in which the number of robot arms and the number of drive motors are reduced and a conveyed product is moved linearly based on an inexpensive control system.

  A typical basic configuration is as shown in, for example, Japanese Patent Application Laid-Open No. 6-143183, using a single drive motor and two main and secondary swivel arms, via a gripper provided at the tilting end of the driven arm. It is known that the object is moved linearly.

  As a specific example to which the above-described transfer robot is applied, Japanese Patent Application Laid-Open No. 10-6259 proposes a transfer robot for large plates according to the application of the inventor of the present application. The configuration is such that the base end of the first arm is pivotally mounted on the base, the base end of the second arm is pivotally supported at the free end of the first arm, and the base arm rotates at the free end of the second arm. A flexible carrier is installed, a positive band is provided in each arm so as to sprinkle between the wheels, and the carrier is disposed above the machine base and the base. By transporting the transported object gripped by the transport tool in a straight line in the horizontal direction, a large flat plate or the like can be transported stably without fear of interference.

  According to the transfer robot described above, each is a transfer robot formed by one drive motor and two swivel arms, which is advantageous in terms of simplification of the mechanism and cost compared to an articulated robot. The movement is limited to the case where it is conveyed from point A to point B in a straight line, and in terms of structure, in the double arm, the weight of the second arm in addition to the weight of the object to be conveyed is the belt, chain, etc. in the first arm. Therefore, there is a problem in that it is affected by the elongation of the positive belt due to the load, high-precision delivery is impossible, and it can be applied only to rough article conveyance and delivery.

  As another conventionally known conveying means, there is a linear motion unit that places a conveyed object on a moving body on a rail and linearly moves the moving body by chain driving. However, with this method, the total length of the linear motion unit cannot be halved even if a double speed mechanism is adopted. For this reason, there is a problem that the moving body cannot leave the main device area. Furthermore, if chips get entangled between the drive chain and the sprocket, the chain will be stretched. As a result, not only will it be necessary to adjust the stretch frequently, but there will also be a problem in operation that requires the chain to be replaced in a short period of time. There is.

  JP-A-6-143183   Japanese Patent Laid-Open No. 10-6259

Problems that the device tries to solve

  The present invention has been made in view of the problems of the above-mentioned double-arm type transfer robot and the problems of the linear motion unit system. It is intended to provide a transfer robot capable of delivering a highly rigid and highly accurate transfer object by reducing the number of arms to the limit and reducing the arm load, reducing the weight and reducing the cost.

Means for solving the problem

  In order to achieve the above object, a transfer robot according to claim 1 of the present invention includes a linear motion drive body mounted on a base, a support body mounted on a horizontal moving portion of the linear motion drive body, and an attachment to the support body. A drive motor, a speed reduction unit connected to the rotation shaft of the drive motor, an arm connected to the speed reduction unit and pivotally supported by a base, and a gripper for a conveyed product or the like attached to the tip of the arm And a mounting belt pivotally supported as much as possible, and a positive belt for striking and connecting the positive wheel of the mounting tool and the positive wheel attached to the arm base so as not to rotate. is there.

  The transfer robot according to claim 2 is the transfer robot according to claim 1, wherein the speed reduction unit is a cyclo reducer.

Effect of device

  The transfer robot according to the present invention includes an arm that pivotally supports a base portion on a support body mounted on a horizontal moving portion of a drive body, and this arm is connected to a speed reduction unit connected to a drive motor attached to the support body. The drive motor and the arm are directly connected via a speed reduction unit, and there is no backlash or torque transmission system rattling or looseness, and the rotation amount of the drive motor is accurately controlled as the arm turning angle. In short, the load to be conveyed is supported by the arm itself, and it is possible to deliver the highly rigid and highly accurate conveyed object even with a heavy load. In addition, the structure of the single arm, the motor that drives it, the cyclo reducer, etc. make the structure simple, lighter, more precise, and more durable. Since no replacement work or replacement parts are required, maintenance costs are not incurred, and installation on the machine is easy, reducing total cost and shortening delivery time.

  Further, the base of the single arm is pivotally supported by a support body mounted on the horizontal moving portion of the driving body, and a fixture is pivotally supported at the tip of the single arm, Since the positive wheel attached to the arm base in a non-rotating manner is connected with a positive belt, a moving stroke (machine pitch) larger than the turning diameter of the single arm can be obtained without changing the posture of the conveyed object. Luggage is transported between a receiving part and a delivery part that are far apart.

  Furthermore, according to the transport robot of the present invention, first, since the single arm is directly connected to the drive motor via the speed reduction unit, there is no backlash or torque transmission system, and the rotation amount of the drive motor is accurate. It can be controlled as an arm turning angle. In addition, the load is supported by the arm itself, and a highly rigid and highly accurate transported object can be delivered even with a heavy load. In particular, the arm, motor, and cyclo reducer make it lighter, more precise, and more durable, making it possible to achieve maintenance-free transfer robots, lower total costs, and shorten delivery times.

  Hereinafter, an embodiment of the present invention will be described with reference to FIGS. 1 is a perspective view of a transfer robot according to the present invention, FIG. 2 is a side sectional view thereof, FIG. 3 is a front sectional view of an arm, FIG. 4 is a sectional view of a reduction unit, and FIG. 6 is a front view showing the operation of the transfer robot, FIGS. 7 and 8 are operation diagrams, and FIG. 9 is an operation cycle diagram.

  Hereinafter, the configuration of the transfer robot according to the present invention will be described in detail. First, a linear drive body 2 that moves in a uniaxial direction is placed on the base 1. The linear drive body 2 is composed of a main body 2A and a horizontal moving portion 2B that moves. Two support plates 3A and 3B are erected on the support 3 mounted on the horizontal moving portion 2B at the front and rear positions. Yes. A base portion 5A of one arm (single arm) 5 is pivotally supported between the two support plates 3A and 3B. The support structure of the arm 5 with respect to the support plates 3A, 3B is such that one side of the base 5A of the arm 5 is pivotally supported by one support plate 3A of the support 3 and the drive motor DM is supported by the other support plate 3B of the support 3 A reduction unit GU is attached, and an input shaft IS of the reduction unit GU is coupled to the rotation shaft of the drive motor. And the output rotary body (output side flange) OS of the said deceleration unit GU was connected with the other surface side of the base 5A of the arm 5, and the base 5A of the arm 5 was pivotally supported by the support body 3 as a whole. It has a form. In the arm 5, forward / reverse rotation of the drive motor DM is input to the input shaft (eccentric high-speed shaft) IS of the deceleration unit GU, and this reduced rotational force is output to the output rotating body OS to make the base 5A of the arm 5 large. Drive forward and reverse slowly with torque.

  Thus, as shown in FIG. 6, the arm 5 is swung between the point B of the left and right horizontal points or the point D from the point A of the arm tip in an upright state. At this time, when the horizontal moving part 2B of the linear motion drive body 2B moves to the right in the figure by a predetermined amount (stroke S), the support body 3 moves from point A to point F in the vertical posture, and point D in the horizontal state on the left and right. Alternatively, point B moves to point E and point C. Accordingly, a movement stroke (machine pitch) LO larger than the turning diameter length (twice the radius length) of one arm 5 is obtained, and the load is transported with a sufficient margin between delivery and delivery. FIG. 1 shows a solid line state in which the arm 5 stands upright, a broken line state inclined by 45 ° to the right side in the figure, and a broken line normal state in a horizontal posture.

  As the deceleration unit GU, as shown in FIGS. 4 and 5, for example, a cyclo reducer is employed. In this configuration, forward / reverse rotation of the drive motor DM is input to the input shaft (eccentric high-speed shaft) IS of the deceleration unit GU. A curved plate 11 is rotatably supported on the eccentric body (carrier) 10 of the input shaft IS via a high-speed shaft support bearing B1, and is engaged with an inner pin P1 fitted in the inner hole and a wavy outer peripheral surface. The outer pin P2 is connected to an output rotating body (output-side flange) OS supported by a main bearing B2 fitted on the inner periphery of the frame body 13. Thus, forward / reverse rotation of the drive motor DM is input to the input shaft (eccentric high-speed shaft) IS of the deceleration unit GU, and the deceleration rotational force is output to the output rotating body (output-side flange) OS via each member. . As a result, there is no backlash or torque transmission system rattling or looseness, and the rotation amount of the drive motor DM can be accurately controlled as the arm turning angle. In addition, the load is supported by the arm itself, and a highly rigid and highly accurate transported object can be delivered even with a heavy load.

  The structure of the drive system of the fixture 6 provided at the tip of the arm 5 will be described with reference to FIGS. The drive system of the fixture 6 is pivotally supported so as to attach a gripper or the like of a conveyed product to the tip of the arm 5, and a positive wheel H1 of the fixture 6 and a positive wheel H1 attached to the arm base 5A so as not to rotate. And a positive moving belt (belt, chain, etc.) B for connecting and connecting. Thereby, the arm 5 is driven to turn without changing the posture of the fixture 6. That is, the gripper or the like that grips the conveyed product maintains a constant posture regardless of the arm turning position.

  Based on the above configuration, the operation of carrying out / in the transfer robot according to the present invention will be described with reference to FIGS. First, as shown in FIG. 7, in the carry-out operation, the arm 5 in the vertical posture position performs an “arm lowering operation” and turns to the horizontal posture position to the right in the drawing. Subsequently, the horizontal movement portion 2B on the linear drive body 2 moves to the right end position shown in the figure by the “traveling axis movement operation”. Next, the arm 5 is lifted from the right horizontal posture position to the vertical posture position and turned by the “arm raising operation”.

  Subsequently, as shown in FIG. 8, in the carrying-in operation of the conveyed product, the arm 5 in the vertical posture position performs the “arm lowering operation” and is turned to the horizontal posture position to the left in the drawing. Subsequently, the horizontal movement portion 2B on the linear drive body 2 moves to the right end position shown in the figure by the “traveling axis movement operation”. Next, by the “arm raising operation”, the arm 5 is turned so as to be lifted from the left horizontal posture position to the vertical posture position.

  The operation cycle of the transfer robot will be described with reference to FIG. This figure shows a workflow for transporting the pallet at the pallet unloading position (a) to the pallet unloading position (b). The arm 5 turns from the vertical posture position (A) to the right horizontal position (B). Subsequently, the arm 5 is moved to the pallet unloading position (A) side by the right drive of the horizontal moving portion 2B, the tip reaches the receiving position (C), and the pallet is held by a gripper provided in the fixture 6 (not shown). grab. Next, the arm 5 turns counterclockwise from the right horizontal pallet unloading position (A) and rises to the F point in the vertical posture. Furthermore, it moves to A point by the left drive of the horizontal moving part 2B. From there, it is turned counterclockwise, the tip reaches the delivery position (D) of the pallet carry-in position (b) in the left horizontal posture, and the pallet is delivered by a gripper provided in the fixture 6 (not shown). The fixture 6 is moved from (D) to (E) at the tip of the arm by the right drive of the horizontal moving portion 2B. Thereafter, the left horizontal posture arm 5 is turned clockwise to reach the vertical posture position (F), and the operation cycle is completed. The next operation cycle starts again by moving the tip of the arm 5 from (F) to (A). Note that the operation cycle time is, for example, 6.3 Sec.

  As described above, according to the present invention, the following effects can be obtained. First, since one arm is directly connected to the drive motor DM via the speed reduction unit GU, there is no backlash or torque transmission system, and the amount of rotation of the drive motor can be accurately controlled as the arm turning angle. . In addition, the load is supported by the arm itself, and a highly rigid and highly accurate transported object can be delivered even with a heavy load. In particular, the configuration of the arm 5, the drive motor DM, and the cyclo reducer GU makes it possible to achieve weight reduction, high precision, high durability, maintenance-free transport robots, total cost reduction, and shortened delivery time. .

  Further, the arm 5 includes a positive moving band B1 mounted on the horizontal moving portion 2B of the linear drive body 2 and attached to the arm base portion 5A so as not to rotate and a positive moving wheel H2 of the fixture 6 at the end of the arm. Because of the connection, the movement stroke (machine pitch) LO larger than the swivel diameter length of one arm can be obtained without changing the posture of the object to be conveyed, and the baggage can be transported with a sufficient margin between delivery and delivery. it can.

  In addition, this invention is not limited to the form mentioned above. For example, the reduction unit GU is not limited to a cyclo reducer, and can be changed to another reduction unit having an equivalent function. Also, various types of driving methods for the linear drive body 2 such as a motor type, a hydraulic type and a linear motor type can be adopted. Even with these changes, the effects and advantages of the present invention can be achieved.

  Although the present invention has been described in the embodiment of the transfer robot, the present invention is not limited to this, and can be applied to a robot for transferring and processing various articles.

It is a perspective view of the conveyance robot of this invention. It is a sectional side view of the conveyance robot of this invention. It is a front sectional view of the arm of the present invention. It is sectional drawing of the deceleration unit of this invention. It is a principle figure of the deceleration unit of this invention. It is an effect | action front view of the conveyance robot of this invention. It is an operation | movement procedure diagram of the conveyance robot of this invention. It is an operation | movement procedure diagram of the conveyance robot of this invention. It is a cycle diagram of the transfer robot of the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Base 2 Linear motion drive body 2A Main-body part 2B Horizontal moving part 3 Support body 3A, 3B Support plate 5 Arm (single arm)
5A Arm base 6 Fixing tool 10 Eccentric body 11 Curved plate 13 Frame B Positive moving band (belt, chain, etc.)
B1 High-speed shaft support bearing B2 Bearing LO Travel stroke (machine pitch)
DM Drive motor GU Deceleration units H1, H2 Positive wheel S Moving stroke IS Input shaft OS Output rotating body P1 Inner pin P2 Outer pin (A) Pallet unloading position (B) Pallet unloading position

Claims (2)

  A linear drive body mounted on a base, a support body mounted on a horizontal moving portion of the linear motion drive body, a drive motor attached to the support body, and a reduction unit connected to a rotation shaft of the drive motor And an arm that is connected to the speed reduction unit and pivotally supports the base of the support, a pivotally pivotally mounted to attach a gripper for a transported object to the tip of the arm, A conveying robot comprising: a moving wheel and a positive moving band that connects and connects a positive moving wheel that is attached to the arm base so as not to rotate.   The transport robot according to claim 1, wherein the speed reduction unit is a cyclo reducer.

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